Add component interface for lanelet metadata msg

Signed-off-by: Barış Zeren <bzeren1819@gmail.com>

Author: StepTurtle

common/component_interface_specs/CMakeLists.txt

@@ -4,6 +4,25 @@ project(component_interface_specs)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
+include_directories(
+  include
+  SYSTEM
+  ${rclcpp_INCLUDE_DIRS}
+  ${rosidl_runtime_cpp_INCLUDE_DIRS}
+  ${rcl_INCLUDE_DIRS}
+  ${autoware_adapi_v1_msgs_INCLUDE_DIRS}
+  ${autoware_auto_planning_msgs_INCLUDE_DIRS}
+  ${autoware_planning_msgs_INCLUDE_DIRS}
+  ${autoware_auto_vehicle_msgs_INCLUDE_DIRS}
+  ${tier4_control_msgs_INCLUDE_DIRS}
+  ${nav_msgs_INCLUDE_DIRS}
+  ${tier4_system_msgs_INCLUDE_DIRS}
+  ${tier4_vehicle_msgs_INCLUDE_DIRS}
+  ${autoware_auto_perception_msgs_INCLUDE_DIRS}
+  ${tier4_map_msgs_INCLUDE_DIRS}
+  ${autoware_map_msgs_INCLUDE_DIRS}
+)
+
 if(BUILD_TESTING)
   ament_auto_add_gtest(gtest_${PROJECT_NAME}
     test/gtest_main.cpp

common/component_interface_specs/include/component_interface_specs/map.hpp

@@ -17,6 +17,7 @@
 
 #include <rclcpp/qos.hpp>
 
+#include <autoware_map_msgs/msg/lanelet_map_meta_data.hpp>
 #include <tier4_map_msgs/msg/map_projector_info.hpp>
 
 namespace map_interface
@@ -31,6 +32,15 @@ struct MapProjectorInfo
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
+struct LaneletMapMetaData
+{
+  using Message = autoware_map_msgs::msg::LaneletMapMetaData;
+  static constexpr char name[] = "/map/lanelet_map_meta_data";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
 }  // namespace map_interface
 
 #endif  // COMPONENT_INTERFACE_SPECS__MAP_HPP_

common/component_interface_specs/package.xml

@@ -16,6 +16,7 @@
   <depend>autoware_auto_planning_msgs</depend>
   <depend>autoware_auto_vehicle_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_map_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>rcl</depend>
   <depend>rclcpp</depend>

map/autoware_dynamic_lanelet_provider/include/autoware/dynamic_lanelet_provider/dynamic_lanelet_provider.hpp

@@ -50,7 +50,7 @@ class DynamicLaneletProviderNode : public rclcpp::Node
   component_interface_utils::Subscription<map_interface::MapProjectorInfo>::SharedPtr
     sub_map_projector_info_;
 
-  rclcpp::Subscription<autoware_map_msgs::msg::LaneletMapMetaData>::SharedPtr
+  component_interface_utils::Subscription<map_interface::LaneletMapMetaData>::SharedPtr
     lanelet_map_meta_data_sub_;
 
   rclcpp::TimerBase::SharedPtr map_update_timer_;

map/autoware_dynamic_lanelet_provider/src/dynamic_lanelet_provider.cpp

@@ -62,26 +62,26 @@ DynamicLaneletProviderNode::DynamicLaneletProviderNode(const rclcpp::NodeOptions
     "/localization/kinematic_state", 100,
     std::bind(&DynamicLaneletProviderNode::onOdometry, this, std::placeholders::_1));
 
-  const auto adaptor = component_interface_utils::NodeAdaptor(this);
-  adaptor.init_sub(
+  const auto projector_info_adaptor = component_interface_utils::NodeAdaptor(this);
+  projector_info_adaptor.init_sub(
     sub_map_projector_info_,
     [this](const map_interface::MapProjectorInfo::Message::ConstSharedPtr msg) {
       projector_info_ = *msg;
     });
 
-  lanelet_map_meta_data_sub_ =
-    this->create_subscription<autoware_map_msgs::msg::LaneletMapMetaData>(
-      "/map/lanelet_map_meta_data", rclcpp::QoS{1}.transient_local(),
-      [this](const autoware_map_msgs::msg::LaneletMapMetaData::SharedPtr msg) {
-        for (const auto & data : msg->metadata_list) {
-          Lanelet2FileMetaData metadata;
-          metadata.id = data.tile_id;
-          metadata.origin_lat = data.metadata.origin_lat;
-          metadata.origin_lon = data.metadata.origin_lon;
-          metadata.mgrs_code = data.metadata.mgrs_code;
-          lanelet_map_meta_data_list_.push_back(metadata);
-        }
-      });
+  const auto metadata_adaptor = component_interface_utils::NodeAdaptor(this);
+  metadata_adaptor.init_sub(
+    lanelet_map_meta_data_sub_,
+    [this](const autoware_map_msgs::msg::LaneletMapMetaData::SharedPtr msg) {
+      for (const auto & data : msg->metadata_list) {
+        Lanelet2FileMetaData metadata;
+        metadata.id = data.tile_id;
+        metadata.origin_lat = data.metadata.origin_lat;
+        metadata.origin_lon = data.metadata.origin_lon;
+        metadata.mgrs_code = data.metadata.mgrs_code;
+        lanelet_map_meta_data_list_.push_back(metadata);
+      }
+    });
 
   double map_update_dt = 1.0;
   auto period_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(

map/map_loader/include/map_loader/lanelet2_differential_loader_module.hpp

@@ -58,7 +58,7 @@ class Lanelet2DifferentialLoaderModule
 
   rclcpp::Service<GetDifferentialLanelet2Map>::SharedPtr get_differential_lanelet2_maps_service_;
 
-  rclcpp::Publisher<autoware_map_msgs::msg::LaneletMapMetaData>::SharedPtr
+  component_interface_utils::Publisher<map_interface::LaneletMapMetaData>::SharedPtr
     pub_lanelet_map_meta_data_;
 
   component_interface_utils::Subscription<map_interface::MapProjectorInfo>::SharedPtr

map/map_loader/src/lanelet2_map_loader/lanelet2_differential_loader_module.cpp

@@ -26,11 +26,10 @@ Lanelet2DifferentialLoaderModule::Lanelet2DifferentialLoaderModule(
 {
   // Publish lanelet2 map meta data
   {
-    pub_lanelet_map_meta_data_ = node->create_publisher<autoware_map_msgs::msg::LaneletMapMetaData>(
-      "/map/lanelet_map_meta_data", rclcpp::QoS{1}.transient_local());
-
     const auto msg = getLaneletMapMetaDataMsg();
 
+    const auto metadata_adaptor = component_interface_utils::NodeAdaptor(node);
+    metadata_adaptor.init_pub(pub_lanelet_map_meta_data_);
     pub_lanelet_map_meta_data_->publish(msg);
   }